In the paper the problem of the robust control of continuous-time systems via [my]-synthesis is investigated. The robust control design is formulated as a local minimalization of the peak of the structured singular value. The control parameters are derived throught polynomial Diophantine equations as a pole placement principle. the poles of the nominal feedback loop are the variables for minimization which was performed by a direct search method. The procedure provided the final controller of a simple PID structure, which was applied to a system with time delay as a perturbation and the results were compared with the D-K iteration, which gave a more complex solution.